JP7100124B2 - Sorting device and sorting method - Google Patents

Description

(Mutual reference of related applications)
This patent application was filed on November 21, 2017, the application number is 20111168424.9, the applicants are Beijing JD.Shangke Information Technology Co., Ltd. and Beijing JD.Com. Century Trading Co., Ltd., and the invention name is "Selection". The device and selection method "claims the priority of the Chinese patent application and the full text of the application is incorporated into this application by reference.

This application relates to warehousing logistics technology, specifically parcel sorting technology, and particularly to sorting equipment and sorting methods.

Parcel sorting means collecting, storing, and transporting parcels of the same destination by collecting parcels of different destinations and delivering them to different parcel collection and delivery stations via a sorting system or a sorting device.

With the rapid development of the Internet, the number of network buyers will increase, which will lead to a rapid increase in the number of parcels. Therefore, parcel sorting has become more important throughout the delivery system, demanding more demand for sorting equipment.

An object of the present application is to provide a sorting device and a sorting method in order to solve the technical problems mentioned in the above background technique section.

In the first aspect, the embodiments of the present application provide a sorting device. The sorting device includes a supply table for transporting the parcel, a transfer robot for transferring the parcel on the supply table to the corresponding delivery window, and a plurality of delivery windows, each of the plurality of delivery windows. , A relay container for storing parcels dropped from the corresponding delivery window is provided below the delivery window toward the floor, and the sorting station corresponding to at least a part of the multiple delivery windows is different. Equipped with multiple delivery windows.

In some embodiments, the sorting device comprises identification means for acquiring code information on the parcel in order to control the transfer robot to transfer the parcel to the corresponding delivery window.

In some embodiments, the sorting device comprises a collecting means and a multi-axis robot, the collecting means being above the feeding table and in front of the multi-axis robot and including location information of the parcel on the feeding table. Collecting state information, the multi-axis robot is located on one side of the supply table and transfers the parcel on the supply table to the transfer robot based on the state information.

In some embodiments, the discriminating means is provided in a predetermined direction, including at least one forward, backward, left, right, upward, and downward of the movement path of the multiaxial robot.

In some embodiments, the status information further includes parcel size parameter information for calculating the volume of the parcel to determine the condition including the fullness of the relay vessel.

In some embodiments, below the delivery window, a chute is provided to transfer the parcel that has fallen from the delivery window to the relay container.

In some embodiments, the sorting device is located below the delivery window and further comprises a detecting means for detecting a condition including the fullness of the relay container.

In some embodiments, the sorting device is used to transport a full relay container to a predetermined position, or to transport an empty relay container below the delivery window corresponding to the full relay container, or. Further equipped with a transfer robot for both of them.

In some embodiments, the sorting device further comprises a bracket that supports the relay container and is higher than the height of the transfer robot from the floor.

In some embodiments, the sorting device further comprises a transport line for transporting the parcel, and the transport robot transports the full relay container so that the transport line transports the full relay container in place. Used for transporting to the line.

In a second aspect, the embodiments of the present application provide a sorting method applied to the sorting apparatus according to any of the first embodiments. The sorting method is to transfer the parcel transported on the supply table to the transfer robot and to control the transfer robot to transfer the parcel to the corresponding delivery window among the plurality of delivery windows. , And below each of the multiple delivery windows, a relay container is provided to store the parcels that have fallen from the corresponding delivery window, and the sorting station corresponding to at least a part of the multiple delivery windows is different. ..

In some embodiments, the sorting device comprises an identification means, and controlling the transfer robot to transfer the parcel to the corresponding delivery window of the plurality of delivery windows is the parcel acquired by the identification means. It includes receiving the above code information and transmitting the code information to the transfer robot so that the transfer robot transfers the parcel to the distribution window indicated by the code information.

In some embodiments, the sorting device comprises a collection means and a multi-axis robot, and the transfer of the parcel being transported on the feed table to the transfer robot can be the location information of the parcel collected by the collection means. It includes receiving the including state information and transmitting the position information to the multi-axis robot so that the multi-axis robot grabs the parcel and transfers it to the transfer robot.

In some embodiments, the state information further includes the size parameter information of the parcel, and the sorting method is to calculate the volume of the parcel based on the size parameter information of the parcel, and for each of the plurality of relay containers. Further includes determining the condition including the fullness of the relay container based on the volume of each parcel in the relay container and the volume of the relay container stored in advance.

In some embodiments, the sorting device further comprises a detecting means, wherein the sorting method includes detection by the detecting means including size parameter information of the parcel dropped from the delivery window or height information of the parcel in the relay container. It further includes receiving the information, or both, and determining the condition including the fullness of the relay container based on the detection information.

In some embodiments, the sorting device further comprises a transfer robot, and the sorting method is such that when the condition of the relay container is determined to be full, the transfer robot transfers the full relay container to a predetermined position. And / or to transport an empty relay vessel below the delivery window corresponding to a full relay vessel, or both, to send a control signal to the transport robot.

The sorting device and the sorting method provided in the embodiments of the present application can realize a multi-layered sorting device by providing a delivery window and a relay container below each delivery window, and can realize a three-dimensional space of a place. Increases the use of and reduces the occupancy of the plane space of the place. In addition, the number of delivery windows can be set according to the change in the number of sorting stations, which makes it more expandable. At the same time, the transfer robot can replace the sorting trolley that circulates along the conventional transport line and transport the parcel along the shortest path to the corresponding delivery window, improving sorting efficiency.

Other features, objectives and advantages of the present application will become more apparent by reading the non-limiting examples described with reference to the drawings below.

It is a structural schematic diagram of the conventional cross belt sorter. It is a structural schematic diagram of one Example of the sorting apparatus which concerns on this application. It is a structural schematic diagram of one Example in which a sorting apparatus is in a sorting area. It is a structural schematic diagram of an Example in which a sorting apparatus is in a collection area. It is a structural schematic diagram of one Example in which a sorting apparatus is in a buffer area. It is a flowchart of one Example of the selection method which concerns on this application.

Hereinafter, the present application will be described in more detail with reference to the drawings and examples. It should be understood that the specific examples described herein are merely for illustration purposes and are not intended to limit the invention. For convenience of explanation, the drawings show only the parts related to the invention.

If there is no contradiction, the examples in the present application and the features in the examples can be combined with each other. Hereinafter, the present application will be described in detail with reference to the drawings and examples.

Parcel sorting in the prior art often uses a cross-belt sorter, and as shown in FIG. 1, a schematic structural diagram of the cross-belt sorter in the prior art is shown.

As can be seen from FIG. 1, the cross belt sorter is generally composed of a parcel supply transport line 11, a code reading device 13, an annular circulation transport line 14, a lateral movement trolley 15, a chute 16, a relay container 17, and the like. The specific sorting process is as follows. First, for all parcels, the operation of separating the parcels one by one on the parcel supply transport line 11 and the operation of pointing the barcode upward (position 12 shown in FIG. 1) are manually performed (FIG. 1). Position shown 12). After that, the parcel is sent to the annular circulation transport line 14 system, and a code reading device 13 for acquiring the parcel information is provided at the entrance of the annular circulation transport line 14. Next, in this annular circulation transfer line 14 system, a plurality of independent laterally moving trolleys 15 are arranged perpendicular to the annular circulation transfer line 14. At the time of sorting, the code-read parcel is sent to a single lateral moving trolley 15, and when it reaches a predetermined position calculated by the system, the lateral moving trolley 15 moves and laterally moves the parcel from the annular circulation transport line 14. The parcels are sorted by carrying them out to a predetermined relay container 17 via a chute 16. Some relay containers 17 are arranged outside the annular circulation transfer line 14 for each sorting station in order to receive parcels sent from the laterally moving trolley 15. After the relay container 17 is full, the relay container 17 is manually transported to the buffer area.

However, in the conventional sorting method using a cross-belt sorter, it is necessary to manually separate all parcels one by one and to move the barcode upward, which increases the strength of manual work and manually joins. Increases the error rate due to. In addition, it is necessary to set the number of laterally moving trolleys according to the number of sorting stations. As the number of sorting stations increases, the number of laterally moving trolleys required increases due to the characteristics of the circulation arrangement of the cross-belt sorting system, which further occupies a large space and the elastic expansion capacity decreases. Further, the sorting speed of such a sorting method is limited by the speed of the transport line, and the instantaneous sorting efficiency cannot be improved. Further, the automatic control of the cross belt sorter is complicated, and after the equipment breaks down, it is necessary to stop and inspect the equipment as a whole, and the operation can be restarted until the failure is repaired. The cost of investment and operation and maintenance of the entire system is also high. Therefore, such a sorting method is unsuitable for the requirements for the sorting device.

Subsequently, with reference to FIG. 2, a structural schematic diagram of an embodiment of the sorting apparatus according to the present application is shown. The sorting device in the present application can include a supply table 21, a transfer robot 22, and a plurality of delivery windows 23. Here, a relay container 24 is provided below each delivery window 23 in the plurality of delivery windows 23. Here, "downward" refers to the direction in which the delivery window 23 faces the floor surface.

In this embodiment, the supply table 21 can be used to transport the parcel. The transfer robot 22 can be used to transfer the parcel on the supply table 21 to the corresponding delivery window 23. The relay container 24 can be used to store the parcel dropped from the delivery window located above the (relay container). Here, the upper direction is a direction facing downward, that is, a direction in which the sorting device is separated from the floor surface. The sorting stations corresponding to at least a part of the delivery windows 23 among the plurality of delivery windows 23 are different.

The sorting station here may be, but is not limited to, a collection and delivery station partitioned according to province, city or region based on the destination of the parcel. After the parcel reaches these sorting stations, it can be further sorted into a sub-collection and delivery station managed by the sorting station. Of course, the sorting station may be the last pick-up and delivery station until the parcel is delivered to the recipient. It will be appreciated that the more detailed the sorting station is partitioned, the greater the number of corresponding delivery windows 23. For example, each delivery window 23 corresponds to a sorting station in a certain area of Beijing City, so that the number of delivery windows 23 is the same as the number of the entire area of Beijing City.

Specifically, the parcel can be placed on the supply table 21 and then moved along the supply table 21. In this case, the person can stand on both sides of the supply table 21 and manually place the parcel on the transfer robot 22. At the same time, the destination of the parcel can be manually recognized, the delivery window corresponding to the parcel can be determined, and the information can be transmitted to the transfer robot 22. Then, the transfer robot 22 places the parcel on the corresponding delivery window 23 and moves the parcel. After reaching the corresponding delivery window 23, the transfer robot 22 transfers the parcel on the parcel to the delivery window 23 by the relative rotation of the tray on which the parcel is placed, and transfers the next parcel. Can be done. Up to this point, the sorting device can be partitioned as a sorting area of the sorting device, that is, the sorting device located in the sorting area can be located in the same layer. Next, the parcel falls from the delivery window 23 and falls into the relay container 24 located below the delivery window 23. Up to this point, it can be partitioned as a collection area for the sorting device, i.e., the collection area is located below the sorting area. Finally, after the relay vessel 24 is full, it can be manually transported to a different buffer area. Further, in order to continue sorting the parcels, another relay container 24 (in which the parcel is not placed) can be manually transported to the position where the full relay container 24 is located. In this case, the buffer area may be in the same layer of the sorting device with respect to the collection area, or may be in a lower layer with respect to the collection area.

The sorting device in this embodiment increases the use of the three-dimensional space of the place, reduces the occupancy of the plane space of the place, and reduces the land use cost by installing each area hierarchically to form a multi-layer structure. Contributes to reduction. In addition, the number of delivery windows can be set according to the change in the number of sorting stations, which is more expandable and more applicable. At the same time, the transfer robot can replace the sorting trolley that circulates along the conventional transport line and transport the parcel along the shortest path to the corresponding delivery window, improving the sorting efficiency.

In some alternative embodiments of this embodiment, the sorting device can be equipped with discriminating means (not shown in FIG. 2) in order to reduce the manual work intensity and further improve the sorting efficiency. The identification means can be used to obtain code information on the parcel to control the transfer robot to transfer the parcel to the corresponding delivery window. Here, the code information can include bar code information and two-dimensional code information. Further, the code information may include at least one of the destination information of the parcel, the identification information corresponding to the destination, or the identification information of the delivery window. Thus, after the identification means sends the code information on the parcel to the transfer robot, the transfer robot can determine the delivery window corresponding to this parcel. It should be understood that the specific location of the discriminating means is not limited in this application and the discriminating means may be mounted on the feedstock, manually gripped, or mounted on the transfer robot. be. By providing the identification means in this way, the probability of human error can be reduced.

In order to realize fully automatic sorting and improve sorting efficiency, further, as shown in FIGS. 3 to 5, structural schematic diagrams of different regions (sorting region, collecting region and buffer region) of the sorting apparatus are shown. show.

The same thing as the sorting device shown in FIG. 2 is that the sorting device in the present embodiment also includes the supply table 21, the transfer robot 22, and the plurality of delivery windows 23 in the sorting area. A relay container (relay container 24 as shown in FIG. 4) is provided below each delivery window 23.

The sorting device in the present embodiment is different from the sorting device shown in FIG. 2 in that the sorting device can further include the collecting means 25 and the multi-axis robot 26. As shown in FIG. 3, the multi-axis robot 26 opposes a pedestal, an arm provided on the pedestal and movable in a multi-axis direction with respect to the pedestal along a predetermined trajectory, and the pedestal of the arm. It has a grip that is provided at the side end and can be operated to grip in a predetermined posture. The multi-axis robot 26 grabs the parcel on the supply table 21 and transfers it to the transfer robot 22 by the cooperation of the arm and the grip portion. The collecting means 25 can be used to collect the state information of the parcel on the supply table 21. Here, the state information can include the position information of the parcel. In this case, the collecting means 25 can be located above the supply table 21 and in front of the multi-axis robot 26, as shown in FIG. 3, in order to better collect the parcel status information. .. Here, "forward" means that the parcel is upstream from the multi-axis robot 26 in the transport direction of the parcel. The multi-axis robot 26 can be located on one side of the supply base 21. Then, the multi-axis robot 26 moves according to the position by calculating the exact position of the parcel on the supply table 21 based on the state information collected by the collection means 25, and the parcel on the supply table 21. Can be grabbed and transferred to the transfer robot 22 to realize automatic gripping of the parcel. As an example, the state information can further include the spatial arrangement of the parcels to determine if the parcels on the feeding table may stack. At this time, the posture when the multi-axis robot 26 may grab may be determined according to the situation in which the parcels are stacked. The state information can further include parcel size parameter information. In this case, the multi-axis robot 26 can realize gripping of parcels of different sizes and improve applicability by calculating the gripping method based on the size parameter information of the parcel.

It will be appreciated that the upper part here may be directly above the supply table 21. However, in order to better collect the parcel status information, the upper part here may be diagonally above the supply table 21, as shown in FIG. Further, the term “forward” here refers to the direction in which the parcel does not pass through the multi-axis robot 26 (before passing through the multi-axis robot) along the moving direction of the parcel on the supply table. That is, the parcel first passes through the collecting means 25 and then through the multi-axis robot 26. Here, the multi-axis robot 26, the transfer robot 22, and the plurality of delivery windows 23 can be located on the same side of the supply table 21 in order to improve the sorting efficiency.

In this embodiment, the identification means 27 can be provided in a predetermined direction of the movement path of the multi-axis robot 26 in order to realize further fully automatic sorting of the sorting device and reduce the manual work intensity. Here, the predetermined direction can include at least one of front, back, left, right, up and down. Thus, during parcel sorting, it is not necessary to limit the specific orientation of the surface on which the code information on the parcel is located. In the process of gripping the parcel by the multi-axis robot 26, the identification means 27 can collect code information on the parcel by photographing or photographing and scanning the six surfaces of the parcel. When the code information is transmitted to the transfer robot 22, the transfer robot 22 transfers the parcel to the corresponding delivery window 23 based on the code information.

Further, as shown in FIG. 4, a chute 28 can be provided below the delivery window 23 in order to prevent the parcel from being damaged while falling. The chute 28 is for transporting the parcel dropped from the delivery window 23 to the relay container 24. This allows the parcel to fall along the chute 28 under the action of gravity. As an example, the surface of the chute may be roughened to increase the frictional force between the chute 28 and the parcel to provide additional buffering, or the chute may be spirally set to parcel. You may reduce the sliding speed of.

In order to further improve the sorting efficiency, as shown in FIG. 4, the sorting device can further include a transfer robot 29. The transfer robot 29 is used to transfer the full relay container 24 to a predetermined position. And / or, the transfer robot 29 is used to transfer an empty relay container 24 below the delivery window 23 corresponding to the full relay container 24. The predetermined position here may be, but is not limited to, the buffer area.

It will be appreciated that the parcel volume can be calculated using the parcel size parameter information if the state information further includes the parcel size parameter information. The state of the relay container 24 can be determined based on the number of parcels in the relay container 24 and the volume of each parcel. Here, the state of the relay container can include full. That is, the relay container is completely filled with parcels. Here, since each relay container can be mass-produced, the volumes of these relay containers are generally known and are substantially the same.

Specifically, the relay container 24 can be arranged on the bracket. As shown in FIG. 4, the bracket is provided on the floor surface below the delivery window 23, and forms a structure of a support frame having a hollow space between the top thereof and the floor surface. The upper surface of the top of the bracket is a support surface that supports the relay container 24, and the height of the lower surface of the top of the bracket from the floor is larger than the height of the transfer robot 29. That is, the distance between the lower surface of the relay container 24 and the floor surface is made larger than the height of the transfer robot 29 so that the transfer robot 29 can be inserted into the hollow of the bracket with the relay container 24 mounted on the bracket. .. As described above, when the total volume of all the parcels in the relay container 24 is close to the volume of the relay container 24 or equal to or larger than the volume of the relay container 24, the control signal is transmitted to the transfer robot 29. The transfer robot 29 can travel below the relay container 24, lift it, transfer it to the buffer area, and store it. In this case, the control signal can be transmitted to another transfer robot 29 to transfer the empty relay container 24 (without the parcel placed) to the bracket. It will be appreciated that the brackets need not be provided if the space between the relay vessel itself and the floor surface is sufficient to accommodate the transfer robot.

As an example, the sorting device can further include detection means (not shown). The detection means may be located below the delivery window to detect the condition of the relay container. Here, the condition can include full. For example, the detection means may be a camera attached to each chute 28 to collect the size parameters of each parcel dropped along the chute 28 and calculate the volume of each parcel. In this way, whether or not the relay container 24 is full can be determined based on the total volume of each parcel dropped in the relay container 24. Of course, in order to reduce the production cost, the detection means may be installed at intervals along the arrangement direction of the relay containers, whereby each detection means may detect a plurality of relay containers at the same time. Can be done. Further, for example, the detecting means may be a sensor attached to the side wall of each relay container 24 in order to detect the height information of the parcel in the relay container 24. In this way, as the parcel constantly falls and accumulates in the relay container 24, when the height of the parcel reaches the location height of the detection means, the detection means sends a feedback signal to fill the state of the relay container. Can be determined to be. As described above, the amount of information transmission and the occupation of the storage space can be reduced, which is advantageous for improving the processing efficiency of the sorting device.

Further, as shown in FIG. 5, the sorting device can be provided with a transfer line 20 in the buffer area. The transfer line 20 is used to receive the relay container 24 conveyed by the transfer robot 29 and transfer it to a predetermined area. In some embodiments, in the transfer line 20, the support surface at the inlet of the relay container 24 conveyed by the transfer robot 29 is the same as the support surface of the transfer robot 29. When the transfer robot 29 conveys the relay container 24 to the inlet of the transfer line 20, the transfer robot 29 stops moving and the belt on the transfer robot rotates to move the relay container 24 located in the relay container 24 in the lateral direction. That is, it is moved to the transport line 20 along the direction of the arrow in FIG. In this case, the transport line 20 also starts operation, and the rotation speeds of both of them cooperate to completely move the relay container 24 onto the transport line 20. In this way, the transfer robot 29 can transfer the next relay container. The relay container 24 can be transported to the corresponding region via the transport line 20, the transport time of the transport robot 29 can be shortened, and the overall sorting efficiency of the sorting device can be further improved.

It will be appreciated that the sorting equipment in this application not only occupies less space, but is also highly intelligent, significantly reduces manual intervention, is highly scalable, and can be adjusted according to capacity. .. It is also convenient for maintenance and repair. If a failure occurs at a certain stage, it can be manually replaced in a short time without affecting the operation of the entire sorting device. Even if a single transfer robot or transfer robot fails, repairs can be performed without affecting the normal operation of other robots.

The present application further provides a selection method. This sorting method can be applied to the sorting device described in each of the above-described embodiments. Specifically, as shown in FIG. 6, a flowchart of an embodiment of the selection method according to the present application is shown. The sorting method can include steps 601 and 602.

In step 601 the parcel transported on the supply table is transferred to the transfer robot.

In this embodiment, the control system can control other devices such as an Automated Guided Vehicle to transport the parcel to the feeding table. In this case, the parcel on the feeding table can be manually transferred to the transfer robot.

In some alternative embodiments of this embodiment, the sorting device can include collecting means and a multi-axis robot. In this case, transferring the parcel transported on the supply table to the transfer robot receives state information including the position information of the parcel collected by the collecting means, and the multi-axis robot grips the parcel. This includes transmitting position information to the multi-axis robot so that it can be transferred to the transfer robot. Here, data transmission between the members can be performed by a wired connection or a wireless connection. For the specific sorting process of the parcel, the related description in the examples of FIGS. 2 and 3 can be referred to, and the description thereof is omitted here.

In step 602, the transfer robot is controlled to transfer the parcel to the corresponding delivery window of the plurality of delivery windows.

In this embodiment, the control system can control the transfer robot to transfer the parcel to the corresponding delivery window. Here, below each delivery window in the plurality of delivery windows, a relay container for storing the parcel dropped from the delivery window is provided. Further, the sorting stations corresponding to at least a part of the delivery windows among the plurality of delivery windows are different. For the specific control process, the related description in the embodiment of FIG. 2 can be referred to, and the description thereof will be omitted here.

In some alternative embodiments of this embodiment, the sorting device can further include discriminating means. In this case, controlling the transfer robot to transfer the parcel to the corresponding delivery window of the plurality of delivery windows is to receive the code information on the parcel acquired by the identification means and the transfer robot. Can include sending the code information to the transfer robot so that the parcel is transferred to the delivery window indicated by the code information. The code information here may be bar code information or two-dimensional code information. Further, the code information may include at least one of the destination information of the parcel, the identification information corresponding to the destination, or the identification information of the delivery window.

Further, when the state information further includes the size parameter information of the parcel, the method calculates the volume of the parcel based on the size parameter information of the parcel and relays to each of the plurality of relay containers. It can further include determining the condition including the fullness of the relay container based on the volume of each parcel in the container and the volume of the relay container stored in advance.

As an example, the sorting device may further include identification means, the method of which is detection information by a detection means, including size parameter information of the parcel dropped from the delivery window, or height information of the parcel in the relay container. Or both of them can be further included and, based on the detection information, the determination of the condition including the fullness of the relay container can be further included.

Further, the sorting device can further include a transfer robot. In this case, the method causes the transfer robot to transfer the full relay container to a predetermined position when it is determined that the state of the relay container is full, or the empty relay container is used as the full relay container. It can further include transmitting control signals to the transport robot to transport below the corresponding delivery window, or both.

The sorting method according to the present application is to control the transfer robot, transfer the parcel transported on the supply table to the corresponding delivery window, and then drop the parcel from the delivery window into the relay container located below the delivery window. , Parcel sorting is completed. By utilizing the multi-layered sorting device, the utilization of the three-dimensional space of the place can be increased and the occupancy of the plane space of the place can be reduced. In addition, the number of delivery windows can be set according to the change in the number of sorting stations, which makes it more expandable. At the same time, the transfer robot can replace the sorting trolley that circulates along the conventional transport line and transport the parcel along the shortest path to the corresponding delivery window, improving sorting efficiency. In addition, each transfer robot operates independently and does not interfere with each other, which contributes to improving the overall operating efficiency.

The above description is merely a description of preferred embodiments of the present application and applicable technical principles. For those skilled in the art, the scope of the invention according to the present application is not limited to the technical means consisting of a specific combination of the above technical features, and at the same time, the above technical features or the above technical features are not deviated from the gist of the present invention. It should be understood that it includes other technical means formed by any combination of its equivalent features. For example, it is a technical means formed by mutually replacing the above-mentioned features with technical features having similar functions disclosed in the present application (not limited to this).

11 Parcel supply transport line 12 Position 13 Code reader 14 Circular circulation transport line 15 Lateral movement trolley 16 Shoot 17 Relay container 20 Transport line 21 Supply stand 22 Transfer robot 23 Delivery window 24 Relay container 25 Collection means 26 Multi-axis robot 27 Identification Means 28 Shoot 29 Transfer robot

Claims (13)

A supply stand for transporting parcels and
A transfer robot for transferring the parcel on the supply table to the corresponding delivery window,
A relay container for storing parcels dropped from the corresponding delivery window is provided below each of the plurality of delivery windows in the direction in which the delivery window faces the floor. Multiple delivery windows with different sorting stations corresponding to at least some of the multiple delivery windows,
A transfer robot for transporting a full relay container to a predetermined position via a transport line and / or transporting an empty relay container below the delivery window corresponding to the full relay container.
A bracket provided on the floor below the delivery window and used to support the relay container, which forms a structure of a support frame having a hollow space between the top of the bracket and the floor, and the transfer robot. With the bracket, the height of the hollow is higher than the height of the transfer robot so that the hollow can be inserted into the hollow.
By working in cooperation with the rotation of the belt on the transfer robot, the transfer robot receives the full relay container that has been laterally moved and conveyed, and conveys it to the predetermined position. The said transport line to be configured and
Equipped with
The transfer line is a sorting device characterized in that the support surface at the inlet of the relay container conveyed by the transfer robot is the same surface as the support surface of the transfer robot . The sorting apparatus according to claim 1, further comprising an identification means for acquiring code information on the parcel in order to control the transfer robot so as to transfer the parcel to the corresponding delivery window. Equipped with collection means and multi-axis robot
The collecting means is located above the feeding table and in front of the multi-axis robot, and collects state information including the position information of the parcel on the feeding table.
The sorting device according to claim 2, wherein the multi-axis robot is located on one side of the supply table and transfers a parcel on the supply table to the transfer robot based on the state information. .. The selection according to claim 3, wherein the identification means is provided in a predetermined direction including at least one of the front, rear, left, right, upper, and lower of the movement path of the multi-axis robot. Device. The sorting apparatus according to claim 3, wherein the state information further includes parcel size parameter information for calculating the volume of the parcel so as to determine a state including the fullness of the relay container. The sorting device according to claim 1, wherein a chute for transferring the parcel dropped from the delivery window to the relay container is provided below the delivery window. The sorting device according to claim 1, further comprising a detecting means for detecting a state including the fullness of the relay container, which is located below the delivery window. A sorting method applied to the sorting device according to any one of claims 1 to 7 .
Transferring the parcel transported on the supply table to the transfer robot,
Including controlling the transfer robot to transfer the parcel to the corresponding delivery window of the plurality of delivery windows.
Below each of the plurality of delivery windows, a relay container for storing parcels dropped from the corresponding delivery windows is provided, and the sorting stations corresponding to at least a part of the plurality of delivery windows are different. Characteristic sorting method. The sorting device includes identification means.
Controlling the transfer robot to transfer the parcel to the corresponding delivery window of the plurality of delivery windows
Receiving the code information on the parcel acquired by the identification means and
The sorting method according to claim 8 , wherein the transfer robot includes transmitting the code information to the transfer robot so that the parcel is transferred to the distribution window indicated by the code information. The sorting device includes a collecting means and a multi-axis robot.
Transferring the parcel transported on the supply table to the transfer robot is not possible.
Receiving state information including the position information of the parcel collected by the collecting means, and
The sorting method according to claim 8 , further comprising transmitting the position information to the multi-axis robot so that the multi-axis robot grips the parcel and transfers it to the transfer robot. The state information further includes the size parameter information of the parcel, and the method is:
To calculate the volume of the parcel based on the size parameter information of the parcel,
For each of the plurality of relay containers, the present invention further comprises determining the state including the fullness of the relay container based on the volume of each parcel in the relay container and the volume of the relay container stored in advance. The sorting method according to claim 10 . The sorting device further comprises a detecting means, wherein the method is:
Receiving detection information by the detection means, including size parameter information of the parcel dropped from the delivery window and / or height information of the parcel in the relay container.
The sorting method according to claim 8 , further comprising determining and determining a state including the fullness of the relay container based on the detection information. The sorting device further comprises a transfer robot, and the method is:
When it is determined that the condition of the relay container is full, the transfer robot conveys the full relay container to a predetermined position and / or the empty relay container is below the delivery window corresponding to the full relay container. The sorting method according to claim 11 or 12 , further comprising transmitting a control signal to the transport robot so as to transport the robot.

Images